履带履齿几何特征是影响稀软沉积物中海底采矿车牵引力特性的关键因素，近年来仿生履齿因其高牵引力特性受到广泛关注，但仿生履齿增力机理尚未厘清，牵引力计算手段匮乏。本文提出一种仿生蝼蛄挖掘足新型履齿，并系统研究履齿几何参数、动力参数和沉积物物理参数对其牵引力特性的影响规律。首先，设计搭建履齿牵引力测量实验装置，测试不同履齿倾斜角度α、不同水的质量分数w模拟底质中，以不同速度v双向剪切的履齿牵引力F，并与直板履齿牵引力进行对比。结果表明，F随α增加先增后减，当履齿凸面向前剪切，α=75°  时F达到最大值；当凹面向前剪切，α=120° 时F达到最大值；这是因为履齿起动滑移楔形土体重量w随α增加先增后减，导致F中被动土压力合力F_Px先增后减；相比传统直板履齿，仿生履齿F最大可提高45.1%。此外，结合被动土压力理论构建极限平衡时最大牵引力F_max计算模型，特定工况下最大计算误差小于30%。本研究可为揭示仿生履齿增力机理和研制高牵引力履齿提供理论支撑。

Grouser structural characteristics critically determine deep–sea mining vehicle traction on soft seabed sediments, while biomimetic grousers have gained prominence for superior traction, their enhancement mechanisms remain unclear and reliable traction calculation methods are absent. This paper proposes a novel biomimetic grouser inspired by the excavating legs of mole crickets and systematically investigates the influence patterns of grouser geometric parameters, dynamic parameters and soil physical properties on its traction characteristics. First the experimental setup involves designing and constructing a traction measurement system to test the traction force F of 5 biomimetic grousers with distinct inclination angles α. These tests are conducted under 4 mass fraction of water w in simulated seabed sediments, with bidirectional shearing motions at 6 velocities v, comparative analysis is performed against conventional flat–plate grousers. Results indicate that the traction F initially increases then decreases with rising α. During shearing motion with convex surface forward, F reaches its maximum at α=75° ; when the concave surface leads the shearing motion, peak F occurs at α=120° . This phenomenon occurs because the weight w of the sliding wedge–shaped soil mass mobilized during grouser initiation first increases then decreases with increasing α, resulting in corresponding initial rise followed by decline in the resultant passive earth pressure force F_Px within F. By contrast the biomimetic grouser demonstrates traction enhancement of up to 45.1% compared to conventional flat–plate designs. Furthermore, an analytical solution for calculating the maximum traction force F_max has been established based on limit equilibrium theory, with maximum calculation error experimentally validated to be within 30%. This study establishes the theoretical basis for revealing biomimetic grouser traction–enhancement mechanisms and developing high–traction structures.